bug fix for enum

chama1176 · Nov 24, 2023 · 14c1e42 · 14c1e42
1 parent 0f4c1ca
commit 14c1e42
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/src/control_table.rs b/src/control_table.rs
@@ -1,6 +1,6 @@
 pub enum DynamixelModel{
-    XM430_W350,
-    XC330_T181,
+    Xm430W350,
+    Xc330T181,
 }
 
 #[allow(dead_code)]
@@ -351,8 +351,8 @@ impl ControlTable {
             ControlTable::PresentPWM => 0.113,
             ControlTable::PresentCurrent => {
                 match model{
-                    DynamixelModel::XM430_W350 => 2.69,
-                    DynamixelModel::XC330_T181 => 1.0,
+                    DynamixelModel::Xm430W350 => 2.69,
+                    DynamixelModel::Xc330T181 => 1.0,
                 }
             },
             ControlTable::PresentVelocity => 0.229,
@@ -426,6 +426,6 @@ mod tests {
     fn to_unit_xc330() {
         let name = ControlTable::ModelNumber;
         assert_eq!(name.to_unit(), 1.0);
-        assert_eq!(ControlTable::PresentPWM.to_unit(DynamixelModel::XC330_T181), 0.113);
+        assert_eq!(ControlTable::PresentPWM.to_unit(DynamixelModel::Xc330T181), 0.113);
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
@@ -9,6 +9,7 @@ pub mod packet_handler;
 pub mod utils;
 pub use control_data::*;
 pub use control_table::ControlTable;
+pub use control_table::DynamixelModel;
 pub use packet_handler::CommunicationResult;
 use packet_handler::MAX_PACKET_LEN;
 pub use utils::DegRad;
@@ -75,7 +76,7 @@ impl<'a> DynamixelControl<'a> {
     pub fn get_present_position(&mut self, id: u8) -> Result<f32, CommunicationResult> {
         let result = self.read_4byte(id, ControlTable::PresentPosition);
         match result {
-            Ok(v) => Ok((v as f32 * ControlTable::PresentPosition.to_unit()
+            Ok(v) => Ok((v as f32 * ControlTable::PresentPosition.to_unit(&DynamixelModel::Xc330T181)
                 - dxl_consts::f32::HOME_POSITION)
                 .pulse2deg()
                 .deg2rad()),
@@ -86,7 +87,7 @@ impl<'a> DynamixelControl<'a> {
     /// current: A
     pub fn set_goal_current(&mut self, id: u8, current: f32) -> Result<(), CommunicationResult> {
         let data: u16 = u16::from_le_bytes(
-            ((current / ControlTable::GoalCurrent.to_unit() * 1000.0) as i16).to_le_bytes(),
+            ((current / ControlTable::GoalCurrent.to_unit(&DynamixelModel::Xc330T181) * 1000.0) as i16).to_le_bytes(),
         );
         let result = self.write_2byte(id, ControlTable::GoalCurrent, data);
         // let result = self.send_2byte_write_packet(id, ControlTable::GoalCurrent, data);
@@ -103,6 +104,7 @@ mod tests {
     use crate::packet_handler::CommunicationResult;
     use crate::packet_handler::Packet;
     use crate::ControlTable;
+    use crate::DynamixelModel;
     use crate::DynamixelControl;
     use crate::Instruction;
     use core::cell::RefCell;